Design And Research Of Roof Fall Tackling Robot Mounted On Shearer

Roof fall accidents often occur in coal mines,which is a very dangerous roof disaster,which has a significant impact on safety production.Traditional manual handling of roof fall accidents requires construction personnel to climb the heights.The processing process is complicated and the construction progress is slow.The safety of construction personnel cannot be guaranteed.This seriously delays the precious time for handling roof fall accidents and affects coal mining production.Aiming at the roof fall accident occurred in the coal mining face in underground coal mines,an air-borne roof fall treatment robot for coal shearer was proposed,which is combined with the coal shearer and a composite movable hydraulic lifting construction platform to form a composite roof fall treatment robot.When a roof fall accident occurs at the coal mining face Follow the shearer to quickly reach the place where the roof fall accident occurs,and replace the construction personnel to deal with the roof fall accident in a timely and efficient manner.This article studies it as follow:(1)The overall design and 3D modeling of the mining machine airborne roof fall processing robot are carried out.In this paper,aiming at the roof fall accident occurred in the coal mining face,the paper designs the composite mobile lifting carrier structure,manipulator structure and drilling rig structure of the roof fall processing robot,and establishes the 3D model in the SolidWorks software.(2)The carrier of the roof fall treatment robot is analyzed and designed.Using the principle of virtual displacement,the ultimate thrust of the composite movable lifting carrier hydraulic cylinder is overturned and calculated;the force of the lifting carrier mechanism is analyzed and the force of each hinge point is calculated;the lifting system and the pushing system of the roofing processing robot are respectively analyzed The hydraulic system is designed to complete the calculation and selection of the actuators.Finally,the oil circuit is given for all the actions of the carrier.(3)The design of the end-effector and the finite element analysis of its key parts are completed.Layout design and model the overall structure.Perform static finite element analysis on its key parts:active connecting rod,driven connecting rod,and clamping jaws,and obtain their stress distribution cloud diagram and total deformation distribution cloud diagram under the limit position and full load,and then analyze and check their bearing ability.The analysis results show that the maximum stress value and the maximum deformation of the key parts meet the design requirements of the roof capping robot operation,and the reliability of the structure design of the end effector of the roof capping robot is guaranteed.Figure[46]table[11]reference[58]...